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Models: update world orientation and fixes for Harmonic
- Anemometer: use degrees. - Gimbal 1D: use degrees in pose. - Gimbal 2D: use degrees in pose. - Parachute: update plugin filename. - Iris: use degrees, replace -0 with 0. - Iris: remove z-offset from iris_with_standoffs model. - Remove z-offset from iris_with_standoffs, so model origin is at CoM. - Set pose in world file. - Zephyr: use degrees. - Zephyr: update parachute plugin name. - Zephyr: disable moment coefficient contribution. - Required due to changed behaviour in Gazebo Harmonic. - Update gimbal pose in iris_with_gimbal world. - Update iris_warehouse world. Signed-off-by: Rhys Mainwaring <[email protected]>
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13 files changed

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-105
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‎models/gimbal_small_1d/model.sdf

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</geometry>
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</collision>
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<sensor name="camera" type="camera">
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<pose>0 0 0 -1.57 -1.57 0</pose>
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<pose degrees="true">0 0 0 -90 -90 0</pose>
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<camera>
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<horizontal_fov>2.0</horizontal_fov>
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<image>

‎models/gimbal_small_2d/model.sdf

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</geometry>
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</collision>
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<sensor name="camera" type="camera">
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<pose>0 0 0 -1.57 -1.57 0</pose>
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<pose degrees="true">0 0 0 -90 -90 0</pose>
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<camera>
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<horizontal_fov>2.0</horizontal_fov>
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<image>

‎models/iris_with_ardupilot/model.sdf

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</link>
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<link name="rotor_0_blade_2_cp">
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<gravity>0</gravity>
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<pose>0.13 -0.22 0.216 0 -0 0</pose>
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<pose>0.13 -0.22 0.216 0 0 0</pose>
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<visual name='rotor_0_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_0_visual_tip'>
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<pose>-0.12 0 0 0 -0 0</pose>
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<pose>-0.12 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_0_visual_cp'>
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<pose>-0.084 0 0 0 -0 0</pose>
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<pose>-0.084 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</material>
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</visual>
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<visual name='rotor_0_visual_cp_forward'>
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<pose>-0.084 -0.02 0 0 -0 0</pose>
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<pose>-0.084 -0.02 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</material>
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</visual>
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<visual name='rotor_0_visual_cp_upward'>
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<pose>-0.084 0 0.02 0 -0 0</pose>
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<pose>-0.084 0 0.02 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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<link name="rotor_1_blade_1_cp">
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<gravity>0</gravity>
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<pose>-0.13 0.2 0.216 0 -0 0</pose>
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<pose>-0.13 0.2 0.216 0 0 0</pose>
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<visual name='rotor_1_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_1_visual_tip'>
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<pose>0.12 0 0 0 -0 0</pose>
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<pose>0.12 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_1_visual_cp'>
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<pose>0.084 0 0 0 -0 0</pose>
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<pose>0.084 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</material>
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</visual>
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<visual name='rotor_1_visual_cp_forward'>
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<pose>0.084 0.02 0 0 -0 0</pose>
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<pose>0.084 0.02 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</material>
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</visual>
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<visual name='rotor_1_visual_cp_upward'>
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<pose>0.084 0 0.02 0 -0 0</pose>
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<pose>0.084 0 0.02 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</link>
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<link name="rotor_1_blade_2_cp">
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<gravity>0</gravity>
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<pose>-0.13 0.2 0.216 0 -0 0</pose>
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<pose>-0.13 0.2 0.216 0 0 0</pose>
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<visual name='rotor_1_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_1_visual_tip'>
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<pose>-0.12 0 0 0 -0 0</pose>
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<pose>-0.12 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_1_visual_cp'>
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<pose>-0.084 0 0 0 -0 0</pose>
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<pose>-0.084 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</material>
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</visual>
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<visual name='rotor_1_visual_cp_forward'>
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<pose>-0.084 -0.02 0 0 -0 0</pose>
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<pose>-0.084 -0.02 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</material>
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</visual>
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<visual name='rotor_1_visual_cp_upward'>
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<pose>-0.084 0 0.02 0 -0 0</pose>
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<pose>-0.084 0 0.02 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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<link name="rotor_2_blade_1_cp">
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<gravity>0</gravity>
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<pose>0.13 0.22 0.216 0 -0 0</pose>
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<pose>0.13 0.22 0.216 0 0 0</pose>
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<visual name='rotor_2_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_2_visual_tip'>
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<pose>0.12 0 0 0 -0 0</pose>
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<pose>0.12 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_2_visual_cp'>
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<pose>0.084 0 0 0 -0 0</pose>
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<pose>0.084 0 0 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</material>
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</visual>
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<visual name='rotor_2_visual_cp_forward'>
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<pose>0.084 -0.02 0 0 -0 0</pose>
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<pose>0.084 -0.02 0 0 0 0</pose>
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<geometry>
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<radius>0.003</radius>
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</material>
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</visual>
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<visual name='rotor_2_visual_cp_upward'>
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<pose>0.084 0 0.02 0 -0 0</pose>
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<pose>0.084 0 0.02 0 0 0</pose>
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<geometry>
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<sphere>
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<radius>0.003</radius>
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</link>
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<link name="rotor_2_blade_2_cp">
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<gravity>0</gravity>
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<pose>0.13 0.22 0.216 0 -0 0</pose>
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<pose>0.13 0.22 0.216 0 0 0</pose>
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<visual name='rotor_2_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_2_visual_tip'>
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<pose>-0.12 0 0 0 -0 0</pose>
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<pose>-0.12 0 0 0 0 0</pose>
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<geometry>
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</material>
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</visual>
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<visual name='rotor_2_visual_cp'>
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<pose>-0.084 0 0 0 -0 0</pose>
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<pose>-0.084 0 0 0 0 0</pose>
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<geometry>
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</material>
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</visual>
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<visual name='rotor_2_visual_cp_forward'>
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<pose>-0.084 0.02 0 0 -0 0</pose>
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<pose>-0.084 0.02 0 0 0 0</pose>
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<geometry>
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<radius>0.003</radius>
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</material>
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</visual>
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<visual name='rotor_2_visual_cp_upward'>
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<pose>-0.084 0 0.02 0 -0 0</pose>
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<pose>-0.084 0 0.02 0 0 0</pose>
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<geometry>
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<link name="rotor_3_blade_1_cp">
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<gravity>0</gravity>
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<pose>-0.13 -0.2 0.216 0 -0 0</pose>
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<pose>-0.13 -0.2 0.216 0 0 0</pose>
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<visual name='rotor_3_visual_root'>
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<pose>0 0 0 0 -0 0</pose>
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<pose>0 0 0 0 0 0</pose>
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<geometry>
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<radius>0.01</radius>
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</material>
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</visual>
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<visual name='rotor_3_visual_tip'>
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<pose>0.12 0 0 0 -0 0</pose>
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<pose>0.12 0 0 0 0 0</pose>
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</material>
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</visual>
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<pose>0.084 0 0 0 0 0</pose>
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</material>
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<pose>0.084 -0.02 0 0 0 0</pose>
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</material>
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<geometry>
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</link>
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<gravity>0</gravity>
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<pose>-0.13 -0.2 0.216 0 0 0</pose>
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<visual name='rotor_3_visual_root'>
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<pose>0 0 0 0 0 0</pose>
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</material>
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</material>
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</material>
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<!-- Frame conventions
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Require by ArduPilot: change model and gazebo from XYZ to XY-Z coordinates
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-->
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<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED>0 0 0 3.141593 0 1.57079632</gazeboXYZToNED>
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<modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
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<!-- Sensors -->
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<imuName>iris_with_standoffs::imu_link::imu_sensor</imuName>

‎models/iris_with_gimbal/model.sdf

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<include>
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<uri>model://gimbal_small_2d</uri>
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<name>gimbal</name>
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<pose degrees="true">0 -0.01 -0.124923 90 0 90</pose>
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<joint name="gimbal_joint" type="revolute">
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<!-- Frame conventions
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Require by ArduPilot: change model and gazebo from XYZ to XY-Z coordinates
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-->
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<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED>0 0 0 3.141593 0 1.57079632</gazeboXYZToNED>
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<modelXYZToAirplaneXForwardZDown degrees="true">0 0 0 180 0 0</modelXYZToAirplaneXForwardZDown>
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<gazeboXYZToNED degrees="true">0 0 0 180 0 90</gazeboXYZToNED>
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<!-- Sensors -->
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<imuName>iris_with_standoffs::imu_link::imu_sensor</imuName>

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